/* Siconos is a program dedicated to modeling, simulation and control
 * of non smooth dynamical systems.
 *
 * Copyright 2024 INRIA.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
#ifndef FRICTIONCONTACT3DNCPGlockerFixedPoint_H
#define FRICTIONCONTACT3DNCPGlockerFixedPoint_H

/*!\file fc3d_NCPGlockerFixedPoint.h
  \brief Typedef and functions declarations related to NCP-Fixed Point solver for 3 dimension
  frictional contact problems. Each solver must have 4 functions in its interface:
  - initialize: link local static variables to the global ones (M,q,...)
  - update: link/fill the local variables corresponding to sub-blocks of the full problem, for
  a specific contact
  - solve: solve the local problem
  - free

*/
#include "NumericsFwd.h"    // for FrictionContactProblem, SolverOptions
#include "SiconosConfig.h"  // for BUILD_AS_CPP // IWYU pragma: keep

#if defined(__cplusplus) && !defined(BUILD_AS_CPP)
extern "C" {
#endif

void F_GlockerFixedP(int sizeF, double* reaction, double* FVector, int up2Date);

/** Initialize friction-contact 3D Fixed Point solver
 * \param problem to solve
 * \param localproblem to solve
 * \param localsolver_options of the solver
 */
void fc3d_FixedP_initialize(FrictionContactProblem* problem,
                            FrictionContactProblem* localproblem,
                            SolverOptions* localsolver_options);

/** solve friction-contact 3D problem with Fixed Point
    \param localproblem to solve
    \param reaction (only the block corresponding to the current contact will be modified,
    \param  options of the solver
    \return 0 iff successful
 */
int fc3d_FixedP_solve(FrictionContactProblem* localproblem, double* reaction,
                      SolverOptions* options);

/** free memory for friction contact 3D Fixed Point solver */
void fc3d_FixedP_free(FrictionContactProblem* problem, FrictionContactProblem* localproblem,
                      SolverOptions* localsolver_option);

/** compute error for friction-contact 3D problem with Fixed Point
 * \param dimension of the global problem
 * \param[in,out] velocity vector
 * \param reaction vector
 * \param output_error
 */
void fc3d_Path_computeError(int dimension, double* velocity, double* reaction,
                            double* output_error);

#if defined(__cplusplus) && !defined(BUILD_AS_CPP)
}
#endif

#endif
